Üst Uzuv Robot Kol Sistemi Tasarımı ve Kinematik Analizi

Abstract

In this study, a wearable upper limb robot arm design has been designed for individuals who experience discomfort in the arm muscle and experience power loss. The user with arm discomfort can attach the designed system to her arm and perform daily life activities like healthy individuals. The upper limb robot arm system is designed in Solidworks program. The system is attached to the waist of the user and wraps the entire arm. The designed robot arm system is designed to be produced of 5 cm thick aluminum material. Angular servo motors are mounted from the joints to the wrists and elbows. The linear motor is mounted to the shoulder part of the upper limb system to provide both vertical and horizontal movement. Necessary analyses were done for the mechanism designed with the help of Solidworks software. The safety coefficients of the arm, hand, and shoulder apparatuses were calculated for a maximum load of 250 N. Later, restrictions were made for the necessary movements and the powers and torque values of the motors to be used were calculated. Also, maximum displacements were determined by making force distributions for the arm, hand, and shoulder parts of the system.

Implementation and Comparison of Wearable Exoskeleton Arm Design with Fuzzy Logic and Machine Learning Control

“…Design of Wearable Exoskeleton Robot Arm. Wearable exoskeleton robot arm structures can be designed in different types according to the work to be done [41]. While there are robot studies that can move in one direction, there are also robot arm studies with very different mobility [42,43].…”

“…Maximum displacements were determined by making force distributions for the system's arm, hand, and shoulder parts. SolidWorks 3D design software was used for the design and angle analysis of the wearable exoskeleton robot arm [41]. The designed wearable exoskeleton robot arm is given in Figure 1.…”

“…Horizontal angles of shoulder movement are limited to 15°in the negative direction and 75°in the positive direction. The maximum vertical movement angle on the front of the designed and analysed exoskeleton robot system was determined as 110° [41].…”

“…The block diagram of the robot arm, designed and kinematically analysed in the Solidworks programme, was created with the simmechanics plugin [41]. The designed wearable robot arm system has four motion zones.…”

“…The study is quite original regarding the design and comparison of current control methods. Contrary to the studies in the literature, a suitable upper extremity robot arm was designed, and necessary kinematic analyses and angle analyses were performed in the previous study [41]. The human anatomy carried out the designed robot arm's angle limitation and kinematic analysis.…”